CN103600784B - A kind of hopping robot of symmetric form vertical jump in succession - Google Patents
A kind of hopping robot of symmetric form vertical jump in succession Download PDFInfo
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- CN103600784B CN103600784B CN201310664294.3A CN201310664294A CN103600784B CN 103600784 B CN103600784 B CN 103600784B CN 201310664294 A CN201310664294 A CN 201310664294A CN 103600784 B CN103600784 B CN 103600784B
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Abstract
The present invention discloses a kind of hopping robot of symmetric form vertical jump in succession, comprise frame, shell, bouncing mechanism and direction adjustment organization, bouncing mechanism and direction adjustment organization are fixed in frame, shell is set outside frame, the guide rod that frame comprises upper surface, lower surface and is connected between upper surface and lower surface; Shell is made up of upper shell and lower house, and wherein upper shell and lower house are taper; Bouncing mechanism comprises bounce bracket and the spring driver train that is arranged in bounce bracket and draw-off mechanism; Bounce bracket is enclosed within guide rod, between the upper end and upper surface of bounce bracket, be connected with extension spring, between the lower end and lower surface of bounce bracket, be connected with lower extension spring.Bouncing mechanism is symmetrical up and down, after such robot lands, no matter which face lands, can realize take-off again, thus realize continuous bounce motor function, enhance the practicality of robot.
Description
Technical field
The present invention relates to mechanics, bionics, Robotics, hopping robot, environmental monitoring, particularly a kind of hopping robot of symmetric form vertical jump in succession.
Background technology
Mobile robot replaces static monitoring techniques node in environmental monitoring, has some superiority in the applications such as information acquisition, and multiple mobile robot's node can dynamic conditioning network's coverage area, network topology structure etc., reduces and covers leak and overlap.Common wheeled mobile robot node is along with the reduction of volume, and its ability adapting to rugged non-structure environment can degradation, and when obstacle is higher than himself height, wheeled mobile robot node is due to can not obstacle detouring and motion failures.Hopping robot can cross the obstacle higher than himself height several times, and higher position can be snapped into, strengthen wireless communication link quality, improve the stability of monitoring network, therefore hopping robot as monitoring node, can be applied to various environmental monitoring field.
When hopping robot is applied in non-structure environment, it needs to have continuous bounce locomitivity, constantly could regulate himself position.Continuous bounce motion needs hopping robot to have to land Self-resetting function, direction of take off regulatory function.Self-resetting comprises initiatively Self-resetting and passive Self-resetting, as the active self-resetting method used in Chinese patent ZL201210003779.3; As the wheeled hopping robot in Chinese patent 201110361030.1 and Chinese patent 201310087552.6 uses symmetrical structure, after robot lands, realize passive Self-resetting.Hopping robot in Chinese patent 201110361030.1 and Chinese patent 201310087552.6 uses compound wheel type mechanism to regulate direction of take off, and the spherical jumping robot in Chinese patent 200910108660.0 regulates direction of take off by the health rotated in spherical shell.
Hopping robot towards non-structure environment application needs to prevent environmental conditions from impacting it, comprise the collision on spring and ground, rainwater etc. cause damage to body Mechatronic Systems, wheeled hopping robot in Chinese patent 201110361030.1 and Chinese patent 201310087552.6 can not crashproof and waterproof, and although Chinese patent 200910108660.0 spherical jumping robot can accomplish waterproof, but this robot static instability, need constantly adjustment attitude could realize standing and take-off, for the perception of robot and control overflow too high, practicality is strong not, its spherical housing causes spring to land rear passive rolling, be difficult to accurately control anchor point, in addition its bouncing mechanism is asymmetric, the method that inner body and spherical shell collide take-off all can cause damage to spherical shell and body, be rolled to just in time upside down in situation, if there is barrier obstruction, the words that rolling moment is inadequate, can not roll and can not jump, there is motion failures.
Summary of the invention
Technical matters technical matters to be solved by this invention is, overcomes the deficiency of the repositioning method of existing hopping robot, Anticollision Measures, direction of take off adjustment etc., designs the hopping robot of the equal symmetric form of a kind of practical 26S Proteasome Structure and Function.
Technical scheme
technical scheme of the present invention is:
A hopping robot for symmetric form vertical jump in succession, comprises frame, shell, bouncing mechanism and direction adjustment organization, and described bouncing mechanism and direction adjustment organization are fixed in described frame, arrange described shell, it is characterized in that outside frame:
The guide rod that described frame comprises upper surface, lower surface and is connected between upper surface and lower surface;
Described shell is made up of upper shell and lower house, and wherein upper shell and lower house are taper or polygonal pyramid shape, and described upper shell and described upper surface are fixed, and described lower house and described lower surface are fixed;
Described bouncing mechanism comprises bounce bracket and the spring driver train that is arranged in bounce bracket and draw-off mechanism; The driving gear set that described spring driver train comprises the first drive motor and is connected with described first drive motor output shaft, the final-stage gear of described driving gear set is teeth-missing gear; Described draw-off mechanism comprises stay cord and capstan wheel, and described capstan wheel is provided with the winding gear engaged with described teeth-missing gear; Described stay cord comprises stay cord and lower stay cord, and one end of described upper stay cord is fixed on described capstan wheel, and one end of lower stay cord is also fixed on described capstan wheel.Wherein go up stay cord and in first groove of wound clockwise in capstan wheel; Lower stay cord wrapped anti-clockwise is in the second groove of capstan wheel.
Described bounce bracket is enclosed within described guide rod, extension spring is connected with between the upper end and upper surface of bounce bracket, lower extension spring is connected with between the lower end and lower surface of bounce bracket, the described upper stay cord other end is fixed on described upper surface, and the other end of described lower stay cord is fixed on described lower surface;
Described direction adjustment organization comprises the second drive motor, coupler and regulating mechanism, and the second described drive motor is fixed in described bounce bracket, and described regulating mechanism is connected on the output shaft of the second described drive motor by coupler.
Described regulating mechanism is one be arranged on fork in housing or can stretch out the adjusting knurl of described housing with bounce bracket motion, is also provided with a clump weight at the end of described fork.
Described guide rod is one that occupy in the middle of upper surface and lower surface or three that are distributed on the same circle in upper surface and lower surface.
Described bounce bracket comprises end face frame, bottom surface frame and joint pin, and wherein joint pin is be distributed on three on the same circle between end face frame and bottom surface frame.
Described draw-off mechanism also comprises top sheave and lower sheave, top sheave is fixed on described end face frame by a top sheave seat, lower sheave is fixed on described bottom surface frame by once pulley base, and described top sheave walked around by described upper stay cord, and described lower sheave walked around by described lower stay cord.
Described upper shell comprises frustum of a cone shell and upper circular cone, and described lower house comprises lower frustum of a cone shell and lower circular cone, and upper frustum of a cone shell and upper circular cone are fixed on upper surface, and lower frustum of a cone shell and lower circular cone are fixed on lower surface.
When the lower house of hopping robot shell of the present invention lands, first drive motor rotates forward and drives driving gear set, the final stage teeth-missing gear of driving gear set drives capstan wheel to be wound around the stay cord of draw-off mechanism, thus bouncing mechanism entirety is pulled to the lower surface of frame, when close to lower surface, upper extension spring is elongated, under draw high spring and compressed, store elastic potential energy, because in one side of something that teeth-missing gear engages with winding gear, some is hypodontia, therefore when teeth-missing gear turns to hypodontia position and winding gear meets, winding gear departs from teeth-missing gear, elastic potential energy in upper extension spring drives them to shrink rapidly, bouncing mechanism entirety rapid upward sliding on the guide rod of frame, when outreaching, can promote whole frame and shell spring liftoff, realize bounce motion, when upper shell lands, first drive motor reversion drives follow-up mechanism drive machines people can realize bounce motion,
The direction adjustment organization of hopping robot of the present invention is by motor rack, second drive motor, coupler, fork, clump weight, or the composition such as adjusting knurl, motor rack is fixed on the frame of bottom surface, second drive motor is fixed on motor rack, the design of motor rack ensures that the distance of motor output shaft distance end face frame and bottom surface frame is equal, coupler is fixed on the output shaft of the second drive motor, fork is fixed on coupler, clump weight is fixed on the terminal part of fork, when the second drive motor rotates, fork just can be driven to swing, clump weight can the shell of drive machines people roll around the summit of lower circular cone on the ground along with the swing of fork, thus the direction of take off of robot can be regulated, adjusting knurl can replace fork and clump weight to be arranged on coupler, and open a notch more bigger than adjusting knurl thickness respectively at upper frustum of a cone shell and position corresponding to lower frustum of a cone shell, before robot take-off, by the stay cord of extension spring, the while that bouncing mechanism being subaerial, adjusting knurl just can stretch out the notch of frustum of a cone shell or lower frustum of a cone shell, now the second drive motor rotates and adjusting knurl just can be driven to rotate, thus realize direction adjustment.
Technical scheme of the present invention is adopted to have following beneficial effect:
(1) symmetric form continous way hopping robot of the present invention is symmetrical up and down at contour structures, can Self-resetting after robot lands, do not need extra Bringing-back mechanism, laterally zygomorphic conical structure design is convenient to robot direction of take off and is regulated, containment structure can protect other mechanism of robot, and the collision that prevents from landing causes damage;
(2) bouncing mechanism designed by the present invention is symmetrical up and down, after such robot lands, no matter which face lands, can realize take-off again, thus realize continuous bounce motor function, enhance the practicality of robot;
(3) angle adjusting mechanism designed by the present invention can realize single motor and drive fork to carry out the adjustment of robot direction of take off in portion in the enclosure, also an adjusting knurl can be driven to carry out direction of take off adjustment, the method degree of regulation that driving adjusting knurl realizes direction of take off adjustment is high, has more practicality.
Accompanying drawing explanation
Fig. 1 is the hopping robot system composition schematic diagram of the embodiment of the present invention.
Fig. 2 is the hopping robot integral structure schematic diagram of the embodiment of the present invention.
Fig. 3 is the hopping robot rack construction schematic diagram of the embodiment of the present invention.
Fig. 4 is the hopping robot containment structure schematic diagram of the embodiment of the present invention.
Fig. 5 is the sensing module scheme of installation of the embodiment of the present invention, and wherein a is the scheme of installation in upper surface, and b is the scheme of installation in lower surface.
Fig. 6 is the bouncing mechanism schematic diagram 1 of the embodiment of the present invention.
Fig. 7 is the bouncing mechanism schematic diagram 2 of the embodiment of the present invention.
Fig. 8 is the bouncing mechanism schematic diagram 3 of the embodiment of the present invention.
Fig. 9 is the bouncing mechanism working process schematic diagram of the embodiment of the present invention.
Figure 10 is direction adjustment organization scheme one schematic diagram of the embodiment of the present invention.
Figure 11 is direction adjusting structure scheme two schematic diagram of the embodiment of the present invention.
Detailed description of the invention
Below in conjunction with drawings and Examples, principle of work of the present invention and working process are described in further detail.
Embodiment: with reference to Fig. 1, a kind of symmetric form continous way hopping robot is by frame 1, shell 2, power module 3, sensing module 4, control module 5, bouncing mechanism 6 and direction adjustment organization 7 form, frame 1 is for installing fixing described shell, module and mechanism, shell 2 is for the protection of described frame, module and mechanism, power module 3 is sensing module 4, control module 5, bouncing mechanism 6 and direction adjustment organization 7 are powered, sensing module 4 realizes the detection of robot pose information, control module 5 realizes all motion controls of robot, bouncing mechanism 6 realizes bounce motion function, direction adjustment organization 7 realizes direction of take off regulatory function,
With reference to Fig. 3, described frame 1 is made up of upper surface 1-1, guide rod 1-2, guide rod 1-3, guide rod 1-4 and lower surface 1-5, thin rounded flakes equal sized by upper surface 1-1 and lower surface 1-5, place in parallel concentric, guide rod 1-2, guide rod 1-3, the parallel placement of guide rod 1-4, its two ends are arranged between upper surface 1-1 and lower surface 1-5 respectively, and ensure Equal round EDS maps on disc;
With reference to Fig. 4, described shell 2 is by upper circular cone 2-1, upper frustum of a cone shell 2-2, lower frustum of a cone shell 2-3 and lower circular cone 2-4 forms, described upper frustum of a cone shell 2-2 and lower frustum of a cone shell 2-3 bottom surface hollow out, described upper circular cone 2-1 and lower circular cone 2-4 bottom surface radius of circle, and frustum of a cone shell 2-2 is identical with the upper surface 1-1 radius of circle in frame with the upper bottom surface radius of circle of lower frustum of a cone shell 2-3, described upper frustum of a cone shell 2-2 is buckled on the 1-1 of frame upper surface, described upper circular cone 2-1 is buckled on frustum of a cone shell 2-2 upper bottom surface, and with screw by upper circular cone 2-1 and upper frustum of a cone shell 2-2 fixed frame upper surface 1-1, described lower frustum of a cone shell 2-3 is buckled on the 1-5 of frame lower surface, described lower circular cone 2-4 is buckled on lower frustum of a cone shell 2-3 upper bottom surface, and with screw by lower circular cone 2-4 and lower frustum of a cone shell 2-3 fixed frame lower surface 1-5,
With reference to Fig. 2, described power module 3 is made up of compact lithium cell, and its installation site can be used for regulating the centroid position of robot, makes robot barycenter as far as possible on its vertical line of centers;
With reference to Fig. 5, described sensing module 4 comprises triaxial accelerometer 4-1, triaxial accelerometer 4-2, three axle magnetometer 4-3 and three axle magnetometer 4-4, triaxial accelerometer 4-1 is arranged on the 1-1 of frame upper surface, triaxial accelerometer 4-2 is arranged on the 1-5 of frame lower surface, and ensure that the x-axis of two triaxial accelerometers is vertical, and point to the center of circle, three described axle magnetometer 4-3 are arranged on the 1-1 of frame upper surface, three axle magnetometer 4-4 are arranged on the 1-5 of frame lower surface, described triaxial accelerometer 4-1 and 4-2 can be used for the inclination angle of measuring robots, the angle of robot and horizontal surface can be calculated by the acceleration value of z-axis, by in conjunction with the x of triaxial accelerometer 4-1 and 4-2 and the acceleration value of y-axis, the position of robot shells 2 and earth surface can be obtained, when upper frustum of a cone shell 2-2 and the earth surface of robot, use the course information of three axle magnetometer 4-3 measuring robots, when lower frustum of a cone shell 2-3 and the earth surface of robot, use the course information of three axle magnetometer 4-4 measuring robots,
See figures.1.and.2, described control module 5 comprises controlled processing unit, memory cell and wireless communication unit, controlled processing unit controls the action of bouncing mechanism and direction adjustment organization, and process sensor data, receive and send data to wireless communication unit, wireless communication unit is used for the remote transmission of the long-range transmission control command of operator and sensing device data, and memory cell is for storing the intermediate data of sensing device data and data processing;
With reference to Fig. 2, Fig. 6, Fig. 7 and Fig. 8, described bouncing mechanism 6 is by end face frame 6-1, bottom surface frame 6-2, joint pin 6-3, joint pin 6-4, joint pin 6-5, first drive motor 6-6, one-level gear 6-7, secondary gear wheel shaft 6-8, secondary gear 6-9, tertiary gear axle 6-10, final stage teeth-missing gear 6-11, winding gear axle 6-12, winding gear 6-13, capstan wheel 6-14, top sheave seat 6-15, top sheave 6-16, upper stay cord 6-17, downslide wheel seat 6-18, lower sheave 6-19, lower stay cord 6-20, upper extension spring 6-21, upper extension spring 6-22, upper stay cord spring 6-23, lower extension spring 6-24, lower extension spring 6-25, lower stay cord spring 6-26 forms, and end face frame 6-1 and bottom surface frame 6-2 is prototype flake, and three circular holes on it are enclosed within guide rod 1-2 respectively, on guide rod 1-3 and guide rod 1-4, can slide up and down along guide rod, joint pin 6-3, joint pin 6-4 and joint pin 6-5 is evenly arranged on the edge of end face frame 6-1 and bottom surface frame 6-2, end face frame 6-2 and bottom surface frame 6-3 is fixed together, DC machine 6-6 is fixed on end face frame 6-1, one-level gear 6-7 is fixed on the first drive motor 6-6 output shaft, secondary gear wheel shaft 6-8 uses nut to be fixed on end face frame 6-1 and bottom surface frame 6-2, secondary gear 6-9 is arranged on secondary gear wheel shaft 6-8 and can rotates around it, and engage with one-level gear 6-7, tertiary gear axle 6-10 uses nut to be fixed on end face frame and bottom surface frame, final stage teeth-missing gear 6-11 is arranged on tertiary gear axle 6-10, one side of something that final stage teeth-missing gear 6-11 is complete engages with secondary gear 6-9, winding gear axle 6-12 passes perpendicularly through end face frame 6-1 and bottom surface frame 6-2, and be connected with bottom surface frame 6-2 with end face frame 6-1 by bearing, winding gear 6-13 is fixed on winding gear axle 6-12 by screw, and have one side of something of hypodontia to be meshed with final stage teeth-missing gear 6-11, capstan wheel 6-14 is fixed on winding gear axle 6-12 by screw, capstan wheel 6-14 has upper and lower two notches, top sheave seat 6-15 is fixed on end face frame 6-1, described top sheave 6-16 is arranged on top sheave seat 6-15, described upper stay cord 6-17 one end is fixed on the upper surface 1-1 of frame, the other end walks around top sheave 6-16, and be fastened in the upper notch of capstan wheel 6-14, downslide wheel seat 6-18 is fixed on the frame 6-2 of bottom surface, described lower sheave 6-19 is arranged on downslide wheel seat 6-18, described lower stay cord 6-20 one end is fixed on the lower surface 1-5 of frame, the other end walks around lower sheave 6-19, and be fastened in the lower notch of capstan wheel 6-14, the direction that upper stay cord 6-17 and lower stay cord 6-20 is wound around in the notch of capstan wheel 6-14 is contrary, upper extension spring 6-21, the upper end of upper extension spring 6-22 and upper stay cord spring 6-23 is evenly fixed on the 1-1 of frame upper surface, and lower end is evenly fixed on end face frame 6-1, lower extension spring 6-24, the upper end of lower extension spring 6-25 and lower stay cord spring 6-26 is evenly fixed on the frame 6-2 of bottom surface, and lower end is evenly fixed on the 1-5 of frame lower surface,
With reference to Fig. 9, the working process of described bouncing mechanism is: when frustum of a cone shell 2-3 and lower circular cone 2-4 lands instantly, first drive motor 6-6 rotates forward and drives one-level gear 6-7, one-level gear 6-7 drives secondary gear 6-9, secondary gear 6-9 drives final stage teeth-missing gear 6-11 to rotate, final stage teeth-missing gear 6-11 drives winding gear 6-13 to rotate, the rotation of winding gear 6-13 can drive capstan wheel 6-14 to rotate, capstan wheel 6-14 rotates and lower stay cord 6-20 can be driven to be wound around in the notch of capstan wheel 6-14, thus bouncing mechanism 6 entirety is pulled to the lower surface 1-2 of frame, upper extension spring 6-21, upper extension spring 6-22 and upper stay cord spring 6-23 is elongated, store elastic potential energy, upper stay cord 6-17 is passive from the notch of capstan wheel to be got around, lower extension spring 6-24, lower extension spring 6-25 and lower stay cord spring 6-26 compression or passive bending, because in one side of something that final stage teeth-missing gear 6-11 engages with winding gear 6-13, some is hypodontia, therefore when final stage teeth-missing gear 6-11 turns to hypodontia position and winding gear 6-13 meets, winding gear 6-13 departs from final stage teeth-missing gear 6-11, upper extension spring 6-21, upper extension spring 6-22 and upper stay cord spring 6-23 shrinks rapidly, bouncing mechanism 6 entirety is at three guide rod 1-2, rapid upward sliding on 1-3 and 1-4, when outreaching, whole frame 1 can be promoted and shell 2 bounces liftoff, realize bounce motion, when described upper frustum of a cone shell 2-2 and upper circular cone 2-1 lands, first drive motor 6-6 reverses and drives follow-up mechanism drive machines people can realize bounce motion,
With reference to Figure 10, described direction adjustment organization 7 is by motor rack 7-1, second drive motor 7-2, coupler 7-3, fork 7-4, clump weight 7-5, adjusting knurl 7-6 forms, described motor rack 7-1 is fixed on the frame 6-2 of bottom surface, second drive motor 7-2 is fixed on motor rack 7-1, the design of motor rack 7-1 ensures that the distance of the second drive motor 7-2 output shaft distance end face frame 6-1 and bottom surface frame 6-2 is equal, described coupler 7-3 is fixed on the output shaft of the second drive motor 7-2, described fork 7-4 is fixed on coupler 7-3, described clump weight 7-5 is fixed on the terminal part of fork 7-4, when the second drive motor 7-2 rotates, fork 7-4 just can be driven to swing, counterweight 7-5 block can the shell 2 of drive machines people roll around lower circular cone 2-4 summit on the ground along with the swing of fork 7-4, thus the direction of take off of robot can be regulated,
With reference to Figure 11, adjusting knurl 7-6 can replace fork 7-4 and clump weight 7-5 to be arranged on coupler 7-3, a notch more bigger than adjusting knurl 7-6 thickness is opened respectively in the position that upper frustum of a cone shell 2-2 and lower frustum of a cone shell 2-3 is corresponding, before robot take-off, the while that bouncing mechanism 6 compressing subaerial, adjusting knurl 7-6 can stretch out the notch of frustum of a cone shell 2-2 or lower frustum of a cone shell 2-3, and now the second drive motor 7-2 rotates and adjusting knurl 7-6 just can be driven to rotate, thus realizes direction adjustment.
Claims (6)
1. a hopping robot for symmetric form vertical jump in succession, comprises frame, shell, bouncing mechanism and direction adjustment organization, and described bouncing mechanism and direction adjustment organization are fixed in described frame, arrange described shell, it is characterized in that outside frame:
The guide rod that described frame comprises upper surface, lower surface and is connected between upper surface and lower surface;
Described shell is made up of upper shell and lower house, and wherein upper shell and lower house are taper or polygonal pyramid shape, and described upper shell and described upper surface are fixed, and described lower house and described lower surface are fixed;
Described bouncing mechanism comprises bounce bracket and the spring driver train that is arranged in bounce bracket and draw-off mechanism; The driving gear set that described spring driver train comprises the first drive motor and is connected with described first drive motor output shaft, the final-stage gear of described driving gear set is teeth-missing gear; Described draw-off mechanism comprises stay cord and capstan wheel, and described capstan wheel is provided with the winding gear engaged with described teeth-missing gear; Described stay cord comprises stay cord and lower stay cord, and one end of described upper stay cord and lower stay cord is all fixed on described capstan wheel;
Described bounce bracket is enclosed within described guide rod, extension spring is connected with between the upper end and upper surface of bounce bracket, lower extension spring is connected with between the lower end and lower surface of bounce bracket, the described upper stay cord other end is fixed on described upper surface, and the other end of described lower stay cord is fixed on described lower surface;
Described direction adjustment organization comprises the second drive motor, coupler and regulating mechanism, and the second described drive motor is fixed in described bounce bracket, and described regulating mechanism is connected on the output shaft of the second described drive motor by coupler.
2. hopping robot according to claim 1, is characterized in that: described regulating mechanism is an adjusting knurl being arranged on fork in housing or extended described housing, is also provided with a clump weight at the end of described fork.
3. hopping robot according to claim 1, is characterized in that: described guide rod is one that occupy in the middle of upper surface and lower surface or three that are distributed on the same circle in upper surface and lower surface.
4. hopping robot according to claim 1, is characterized in that: described bounce bracket comprises end face frame, bottom surface frame and joint pin, and wherein joint pin is be distributed on three on the same circle between end face frame and bottom surface frame.
5. hopping robot according to claim 4, it is characterized in that: described draw-off mechanism also comprises top sheave and lower sheave, top sheave is fixed on described end face frame by a top sheave seat, lower sheave is fixed on described bottom surface frame by once pulley base, described top sheave walked around by described upper stay cord, and described lower sheave walked around by described lower stay cord.
6. hopping robot according to claim 1, it is characterized in that: described upper shell comprises frustum of a cone shell and upper circular cone, described lower house comprises lower frustum of a cone shell and lower circular cone, upper frustum of a cone shell and upper circular cone are fixed on upper surface, and lower frustum of a cone shell and lower circular cone are fixed on lower surface.
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| CN201310664294.3A CN103600784B (en) | 2013-12-09 | 2013-12-09 | A kind of hopping robot of symmetric form vertical jump in succession |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105905177B (en) * | 2015-12-30 | 2017-10-31 | 东莞市凡豆信息科技有限公司 | Ball shape robot drive mechanism |
| CN105923064B (en) * | 2015-12-30 | 2017-12-26 | 东莞市凡豆信息科技有限公司 | Ball shape robot with rolling and skip functionality |
| CN109080720B (en) * | 2018-07-03 | 2024-04-19 | 浙江理工大学 | Magnetic driving stable bouncing robot |
| CN111169556B (en) * | 2020-01-06 | 2021-04-27 | 北京理工大学 | High-trafficability wheel-leg combined bounceable ground maneuvering platform |
| CN112109816B (en) * | 2020-09-23 | 2021-08-27 | 北京理工大学 | Continuous hopping robot and hopping method |
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